Emerson Epsilon EP Drive 400518-01 Instrukcja Instalacji Pobierz pdf (Strona 122)

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Epsilon EP-P Drive and FM-3/4 Module Reference Manual

CompoundIndexInitiate var.var0

goto a:

Index.Initiate

This program instruction is used to initiate a single index. The index is preset to include an acceleration up to speed, a run at

speed and a deceleration to a stop.

A comment is automatically inserted after the index instruction which shows key data about the particular index. The

comment starts with the apostrophe ‘character.

A “Wait For Index.AnyCommandComplete” instruction is also automatically inserted after each index. This insures that the

index has completed before the program continues on to the next line of code. It is also possible make the program wait until

the index is complete and the following error is less than a specified amount. This is accomplished by changing the “Wait

For Index.AnyCommandComplete” to “Wait For InPosn”. The In Position Window is configured in the Position view.

Examples:

Index.0.Initiate‘Incremental,Dist=5.000in,Vel=2.0in/s

Wait For Index.AnyCommandComplete

Index.37.Initiate‘Absolute,Posn=120.60mm,Vel=50.2mm/s

Wait For InPosn

Index.CompoundInitiate

This program instruction is used to initiate an index which has no deceleration ramp. The index accelerates or decelerates

towards the next index velocity using the next index acceleration ramp. The index will finish at velocity. The program then

moves on to the next index. It smoothly transitions into the second index without stopping. The second index then ramps to

its pre-configured velocity. Multiple indexes can be “compounded” to create a complex velocity profile. The last index in a

complex profile must have a deceleration ramp. This is accomplished using a standard Index.Initiate rather than a

Index.CompoundInitiate. The final index will honor the deceleration ramp. If the last index is not long enough to perform a

decel ramp at the programmed rate, the motor will backup at the end of the last index.

Each index can be used in multiple places as both a standard index with a deceleration ramp, and a compound index without

a deceleration ramp. The program instruction (Index.0.Initiate or Index.0.CompoundInitiate), not the index itself, determines

whether or not the index will execute a deceleration ramp. For example, Index.0 can be used multiple times in multiple

programs. It can be initiated at different times using the Index.0.Initiate instruction and the Index.0.CompoundInitiate

instruction.

A comment is automatically inserted after the index instruction which shows key data about the particular index. The

comment starts with the apostrophe ‘ character.

Examples:

Index.0.CompoundInitiate‘Incremental,Dist=5.000in,Vel=50in/s

Index.1.CompoundInitiate‘Incremental,Dist=20.000in,Vel=75in/s

Index.2.Initiate‘Incremental,Dist=10.000in,Vel=30in/s

Index 1

Index 0

Index 2

Time

Velocity

Complex Velocity Profile

1 2 ... 117 118 119 120 121 122 123 124 125 126 127 ... 239 240

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